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Restore correct space for eye joint rotations.

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Also, do not correct for camera position on my avatar. (That will be done by zero or one receivers.)
This commit is contained in:
Howard Stearns 2015-08-10 12:34:01 -07:00
parent 64fcd2da96
commit 964d04d24f
3 changed files with 18 additions and 11 deletions
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4
interface/src/avatar/SkeletonModel.cpp
View file

@ -107,12 +107,14 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
const FBXGeometry& geometry = _geometry->getFBXGeometry();
Rig::HeadParameters params;
params.modelRotation = getRotation();
params.modelTranslation = getTranslation();
params.leanSideways = _owningAvatar->getHead()->getFinalLeanSideways();
params.leanForward = _owningAvatar->getHead()->getFinalLeanSideways();
params.torsoTwist = _owningAvatar->getHead()->getTorsoTwist();
params.localHeadOrientation = _owningAvatar->getHead()->getFinalOrientationInLocalFrame();
params.worldHeadOrientation = _owningAvatar->getHead()->getFinalOrientationInWorldFrame();
params.eyeLookAt = _owningAvatar->getHead()->getCorrectedLookAtPosition();
params.eyeLookAt = _owningAvatar->getHead()->getLookAtPosition();
params.eyeSaccade = _owningAvatar->getHead()->getSaccade();
params.leanJointIndex = geometry.leanJointIndex;
params.neckJointIndex = geometry.neckJointIndex;

21
libraries/animation/src/Rig.cpp
View file

@ -27,6 +27,10 @@ void Rig::HeadParameters::dump() const {
axis = glm::axis(worldHeadOrientation);
theta = glm::angle(worldHeadOrientation);
qCDebug(animation, " worldHeadOrientation axis = (%.5f, %.5f, %.5f), theta = %0.5f", axis.x, axis.y, axis.z, theta);
axis = glm::axis(modelRotation);
theta = glm::angle(modelRotation);
qCDebug(animation, " modelRotation axis = (%.5f, %.5f, %.5f), theta = %0.5f", axis.x, axis.y, axis.z, theta);
qCDebug(animation, " modelTranslation = (%.5f, %.5f, %.5f)", modelTranslation.x, modelTranslation.y, modelTranslation.z);
qCDebug(animation, " eyeLookAt = (%.5f, %.5f, %.5f)", eyeLookAt.x, eyeLookAt.y, eyeLookAt.z);
qCDebug(animation, " eyeSaccade = (%.5f, %.5f, %.5f)", eyeSaccade.x, eyeSaccade.y, eyeSaccade.z);
qCDebug(animation, " leanJointIndex = %.d", leanJointIndex);
@ -782,8 +786,8 @@ glm::quat Rig::getJointDefaultRotationInParentFrame(int jointIndex) {
void Rig::updateFromHeadParameters(const HeadParameters& params) {
updateLeanJoint(params.leanJointIndex, params.leanSideways, params.leanForward, params.torsoTwist);
updateNeckJoint(params.neckJointIndex, params.localHeadOrientation, params.leanSideways, params.leanForward, params.torsoTwist);
updateEyeJoint(params.leftEyeJointIndex, params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade);
updateEyeJoint(params.rightEyeJointIndex, params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade);
updateEyeJoint(params.leftEyeJointIndex, params.modelTranslation, params.modelRotation, params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade);
updateEyeJoint(params.rightEyeJointIndex, params.modelTranslation, params.modelRotation, params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade);
}
void Rig::updateLeanJoint(int index, float leanSideways, float leanForward, float torsoTwist) {
@ -824,22 +828,21 @@ void Rig::updateNeckJoint(int index, const glm::quat& localHeadOrientation, floa
}
}
void Rig::updateEyeJoint(int index, const glm::quat& worldHeadOrientation, const glm::vec3& lookAt, const glm::vec3& saccade) {
void Rig::updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::quat& worldHeadOrientation, const glm::vec3& lookAtSpot, const glm::vec3& saccade) {
if (index >= 0 && _jointStates[index].getParentIndex() >= 0) {
auto& state = _jointStates[index];
auto& parentState = _jointStates[state.getParentIndex()];
// NOTE: at the moment we do the math in the world-frame, hence the inverse transform is more complex than usual.
glm::mat4 inverse = glm::inverse(parentState.getTransform() *
glm::translate(getJointDefaultTranslationInConstrainedFrame(index)) *
glm::mat4 inverse = glm::inverse(glm::mat4_cast(modelRotation) * parentState.getTransform() *
glm::translate(state.getDefaultTranslationInConstrainedFrame()) *
state.getPreTransform() * glm::mat4_cast(state.getPreRotation() * state.getDefaultRotation()));
glm::vec3 front = glm::vec3(inverse * glm::vec4(worldHeadOrientation * IDENTITY_FRONT, 0.0f));
glm::vec3 lookAtDelta = lookAt;
glm::vec3 lookAtDelta = lookAtSpot - modelTranslation;
glm::vec3 lookAt = glm::vec3(inverse * glm::vec4(lookAtDelta + glm::length(lookAtDelta) * saccade, 1.0f));
glm::quat between = rotationBetween(front, lookAt);
const float MAX_ANGLE = 30.0f * RADIANS_PER_DEGREE;
float angle = glm::clamp(glm::angle(between), -MAX_ANGLE, MAX_ANGLE);
glm::quat rot = glm::angleAxis(angle, glm::axis(between));
setJointRotationInConstrainedFrame(index, rot * state.getDefaultRotation(), DEFAULT_PRIORITY);
state.setRotationInConstrainedFrame(glm::angleAxis(glm::clamp(glm::angle(between), -MAX_ANGLE, MAX_ANGLE), glm::axis(between)) *
state.getDefaultRotation(), DEFAULT_PRIORITY);
}
}

4
libraries/animation/src/Rig.h
View file

@ -54,10 +54,12 @@ public:
float leanSideways = 0.0f; // degrees
float leanForward = 0.0f; // degrees
float torsoTwist = 0.0f; // degrees
glm::quat modelRotation = glm::quat();
glm::quat localHeadOrientation = glm::quat();
glm::quat worldHeadOrientation = glm::quat();
glm::vec3 eyeLookAt = glm::vec3(); // world space
glm::vec3 eyeSaccade = glm::vec3(); // world space
glm::vec3 modelTranslation = glm::vec3();
int leanJointIndex = -1;
int neckJointIndex = -1;
int leftEyeJointIndex = -1;
@ -163,7 +165,7 @@ public:
void updateLeanJoint(int index, float leanSideways, float leanForward, float torsoTwist);
void updateNeckJoint(int index, const glm::quat& localHeadOrientation, float leanSideways, float leanForward, float torsoTwist);
void updateEyeJoint(int index, const glm::quat& worldHeadOrientation, const glm::vec3& lookAt, const glm::vec3& saccade);
void updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::quat& worldHeadOrientation, const glm::vec3& lookAt, const glm::vec3& saccade);
QVector<JointState> _jointStates;
int _rootJointIndex = -1;